lovr-ODE/tests/odemath.cpp

/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: [email protected]   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/
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#include <UnitTest++.h>
#include <ode/ode.h>
#include "ode/odemath.h"



TEST(test_dNormalization3)
{
  const dVector3 x = {1,0,0,0};
  const dVector3 y = {0,1,0,0};
  const dVector3 z = {0,0,1,0};
  dVector3 v;

  // Check when value in first component (i.e. [0])
  v[0] = REAL(1.0); v[1] = REAL(0.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.1); v[1] = REAL(0.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(1e-20); v[1] = REAL(0.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  // Check when value in first component (i.e. [0])
  v[0] = REAL(0.0); v[1] = REAL(1.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(0.1); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(1e-20); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  // Check when value in first component (i.e. [0])
  v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(1.0);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(0.1);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(1e-20);
  dSafeNormalize3(v);
  CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  // Check negative
  // Check when value in first component (i.e. [0])
  v[0] = REAL(-1.0); v[1] = REAL(0.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(-0.1); v[1] = REAL(0.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(-1e-20); v[1] = REAL(0.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  // Check when value in first component (i.e. [0])
  v[0] = REAL(0.0); v[1] = REAL(-1.0); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(-0.1); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(-1e-20); v[2] = REAL(0.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  // Check when value in first component (i.e. [0])
  v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(-1.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(-0.1);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

  v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(-1e-20);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  v[0] = REAL(9999999999.0); v[1] = REAL(0.0); v[2] = REAL(1e-20);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));


  v[0] = REAL(9999999999.0); v[1] = REAL(9999.0); v[2] = REAL(9.0);
  dSafeNormalize3(v);
  CHECK_EQUAL(dLENGTH(v), REAL(1.0));

}